JPH08179827A - Controller for light beam guide for mobile object - Google Patents

Abstract

PURPOSE: To make the device inexpensive by simplifying the configuration of a light beam receiving means. CONSTITUTION: On the ground side, a light beam A1 for guide along the lengthwise direction of the guide path of a mobile object V and beam light A2 for trigger showing a prescribed position in the lengthwise direction while crossing the lengthwise direction of the guide path respectively vertically perform scanning in mutually different scanning cycles, and photosensors S1 for respectively outputting the light receiving information of plural light receiving elements juxtaposed in a line are provided at a light beam receiving means S on the side of the mobile object V while being inclined in a before and behind direction so that a light receiving surface can receive both the light beams. Then, it is discriminated which of both the light beam projecting means that light beam is projected from the discrimination of the scanning cycles of those received light beams and based on this discrimination information and the light receiving position information of the light receiving elements, the lateral position of the mobile object V in the guide path is detected. Based on that position, the mobile object V is controlled to move along the guide path and according to the reception of the beam light for trigger at a prescribed position in a before and behind direction of the mobile object V, the mobile object V performs prescribed action at a prescribed position of the guide path.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guiding beam light projection means for projecting a guiding beam light along a longitudinal direction of a guiding path of a moving body on a ground side, and a predetermined position in the longitudinal direction of the guiding path. A trigger beam light projecting means for projecting the trigger beam light in a direction intersecting the longitudinal direction of the guide path, and the moving body receives the guide beam light and the trigger beam light. Based on the light receiving means and the light receiving information of the beam light receiving means, the position of the moving body in the lateral direction with respect to the guiding path is detected, and the moving body follows the guiding path based on the position detection information. Control is performed so that the moving body moves, and the moving body receives a predetermined movement at a predetermined position of the guide path as the trigger beam light is received at a predetermined position in the front-rear direction of the moving body. About beam guidance control apparatus for a mobile body in which a control unit is provided which controls to perform.

[0002]

2. Description of the Related Art A controller for guiding a light beam of a moving body projects a light beam for guidance along a plurality of work steps as a guide path juxtaposed in a rectangular work site. At a predetermined position, such as at the end of the work stroke, the beam light for trigger is projected in a direction intersecting the beam light for guidance, and the beam light receiving means provided in the working vehicle V as a moving body for rice planting is used for both beams. Based on the information received from the light, the work vehicle V is guided and traveled along each work stroke while detecting the position in the lateral direction with respect to the guide path and performing steering control to an appropriate position. The work travels over the entire area of the work site by moving to the start end of the adjacent work stroke at the end of the stroke.

In the prior art, as shown in FIG.
The beam light receiving means includes a steering control optical sensor S1 in which a plurality of light receiving elements are arranged side by side in order to receive the guiding beam light A1, and a trigger optical sensor that receives the trigger beam light. It consisted of S2. In the figure, the steering control optical sensor S1 is provided on both the left and right sides so that the guiding beam light A1 projected on both sides can be received, but it may be provided on only one side or the trigger optical sensor S1. S2 is also provided one at the front and one at the back, but may be, for example, only the front sensor S2.

[0004]

However, in the above-mentioned prior art, it is necessary to install two types of optical sensors S1 and S2 on the moving body (work vehicle V) in order to configure the beam light receiving means. However, there is a problem that the structure of the beam light receiving means is complicated and expensive.

The present invention has been made in view of the above circumstances, and an object thereof is to eliminate the disadvantages of the above-mentioned prior art by configuring the beam light receiving means to include only one type of optical sensor. Especially.

[0006]

According to a first characteristic configuration of a controller for guiding a light beam of a moving body according to the present invention, the both beam light projecting means have their respective beam lights at different scanning cycles in the vertical direction. An optical sensor configured to scan, wherein the beam light receiving means is configured to be able to separately output the light reception information of a plurality of light receiving elements juxtaposed in a row, a light receiving surface along the juxtaposed direction of the light receiving elements. Is provided in the moving body in a state of being inclined with respect to the front-rear direction of the moving body so that both the guiding beam light and the triggering beam light can be received, and the moving body is provided with each of the optical sensors. Identification means is provided for determining the scanning cycle of the received light beam based on the light receiving information of the light receiving element to identify which of the two light beam projecting means the light beam is. Based on the identification information of the receiving position information and said identification means of said plurality of light receiving elements, and detects the position in the transverse direction relative to the guide route of the movable body,
In addition, it is configured to determine a predetermined position in the front-rear direction of the moving body that has received the trigger light beam.

A second characteristic structure is such that the both beam light projecting means scan the respective light beams in the vertical direction at different scanning cycles from each other, and the beam light receiving means are arranged in a line. Light receiving information of a plurality of light receiving elements juxtaposed is separately output, and a light receiving surface along the juxtaposed direction of the light receiving elements is arranged along the lateral direction of the moving body so that the guiding beam light can be received. And a light reflector arranged to reflect the trigger beam of light toward the light receiving surface of the light sensor, and the moving body receives light received information of each light receiving element in the light sensor. On the basis of the above, a discriminating means for discriminating the scanning period of the received light beam and discriminating which of the two beam light projecting the light beam is, the control means is provided with the plurality of light beams. Receiving Based on the light receiving position information of the element and the identification information of the identification means, the position of the moving body in the lateral direction with respect to the guide path is detected, and the front-back direction of the moving body that has received the trigger beam light is detected. The point is that it is configured to determine a predetermined position.

A third characteristic constitution is the first or the second.
In the above characteristic configuration, a plurality of the guide paths are set in a state of being adjacent to each other, and the control means causes the moving body to follow one guide path as the optical sensor receives the trigger beam light. It is configured so as to move from the guided state along the adjacent guiding path to the guided state.

[0009]

According to the first characteristic configuration of the control unit for guiding the light beam of the moving body according to the present invention, scanning is performed in the vertical direction at a predetermined scanning cycle along the longitudinal direction of the guiding path of the moving body on the ground side. The guiding light beam thus projected is configured such that, in the light beam receiving means on the moving body side, the light receiving information of the plurality of light receiving elements juxtaposed in a row can be separately output.
The light receiving surface of the light receiving element along the juxtaposed direction is received by the optical sensor inclined with respect to the front-back direction of the moving body so as to receive both the guiding beam light and the triggering beam light. Then, the scanning cycle of the light beam received is determined based on the light reception information of each light receiving element in the optical sensor, and when the determined scanning cycle is the predetermined scanning cycle, the received light beam is guided by the guide light. The light beam is identified as a beam light for use, and the position of the moving body in the lateral direction with respect to the guide path is detected based on the identification information and the light receiving position information of the plurality of light receiving elements.

At the same time, in order to indicate a predetermined position in the longitudinal direction of the guide path of the moving body, it is moved up and down in a direction crossing the longitudinal direction of the guide path at a predetermined scanning cycle different from the scanning cycle of the guiding light beam. In the beam light receiving means on the moving body side, the beam light for trigger projected so as to scan in the direction is received by the optical sensor having a plurality of light receiving elements juxtaposed in a row and having a light receiving surface inclined. .
When the scanning cycle of the received light beam is determined based on the light reception information of each light receiving element in the optical sensor, and the determined scanning cycle is a predetermined scanning cycle different from the scanning cycle of the guiding light beam. The received light beam is identified as the trigger light beam, and the moving object is detected based on the identification information and the light reception information of the plurality of light receiving elements (for example, the light receiving element at the center position in the column direction). It is determined that the trigger beam light has been received at a predetermined position in the front-rear direction of the vehicle. It performs a moving operation such as start and a predetermined operation such as starting and stopping work in the case of a work vehicle.

Further, according to the second characteristic configuration, the guiding light beam projected so as to scan vertically at a predetermined scanning cycle along the longitudinal direction of the guiding path of the moving body on the ground side, In the beam light receiving means on the moving body side, the light receiving information of a plurality of light receiving elements arranged side by side in a row can be separately output, and the light receiving surface along the juxtaposing direction of the light receiving elements receives the guiding light beam. The light is received by an optical sensor arranged so as to be along the lateral direction of the moving body. Then, the scanning cycle of the received light beam is determined based on the light reception information of each light receiving element in the optical sensor,
When the determined scanning cycle is the predetermined scanning cycle, it is identified that the received light beam is the guiding light beam, and based on the identification information and the light receiving position information of the plurality of light receiving elements. , The position of the moving body in the lateral direction with respect to the guide route is detected.

At the same time, in order to indicate a predetermined position in the longitudinal direction of the guide path of the moving body, it is moved up and down in a predetermined scanning cycle different from the scanning cycle of the guiding light beam in a direction intersecting the longitudinal direction of the guide path. In the beam light receiving means on the moving body side, the beam light for trigger projected so as to scan in the direction is reflected by the reflector toward the light receiving surface of the optical sensor and is received by the optical sensor. When the scanning cycle of the received light beam is determined based on the light reception information of each light receiving element in the optical sensor, and the determined scanning cycle is a predetermined scanning cycle different from the scanning cycle of the guiding light beam. In addition, it is identified that the received light beam is the trigger light beam, and based on the identification information and the light reception information of a plurality of light receiving elements (for example, a predetermined number of light receiving elements near the center in the column direction). It is determined that the trigger beam light is received at a predetermined position in the front-rear direction of the moving body, and the moving body is at a predetermined position of the guide path in accordance with the determination of the reception of the trigger beam light, for example, stop of movement, A movement operation such as the start of a turning operation and a predetermined operation such as the start and stop of the work in the case of a work vehicle are performed.

Further, according to the third characteristic constitution, in the first or second characteristic constitution, the longitudinal direction of one of the guiding routes which are set in a plurality of moving bodies adjacent to each other. When the trigger beam light is received while being guided along the guide path based on the light reception information of the guide beam light projected along the path, the state of being guided along the one guide path. To a state where the vehicle is guided along an adjacent guiding path.

[0014]

Therefore, according to the first characteristic configuration of the controller for guiding the beam light of the moving body according to the present invention, the beam light receiving means for receiving the beam light for guiding and the beam light for triggering is operated by the conventional operation. Since it is possible to configure only one type of optical sensor corresponding to the optical sensor for direction control and omit the optical sensor for trigger which is conventionally provided as a separate body, two types of optical sensors are conventionally provided. Therefore, the problem that the structure of the beam light receiving means is complicated and expensive is solved.

According to the second characteristic configuration, as the beam light receiving means for receiving the guiding beam light and the trigger beam light, one type of optical sensor corresponding to the conventional steering control optical sensor is used. Since it can be used as it is in the conventional installation state, and the optical sensor provided for the conventional trigger can be omitted by simply attaching an inexpensive reflector such as a reflecting mirror, it is possible to use two types of optical sensors in the past. Since it is provided, the problem that the structure of the beam light receiving means is complicated and expensive is solved.

According to the third characteristic configuration, the moving body is
For example, while moving along a guide route that is set in a state of juxtaposed and intersecting, etc. in the ground-side region of a predetermined shape, while moving along adjacent guide routes, all guide routes in the above region are moved. Therefore, it is possible to sequentially move along, and therefore, in the case of automatically traveling while working on a work site or the like having a predetermined shape, a suitable means for implementing the first or second characteristic configuration can be obtained. To be

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a work vehicle for rice planting as a moving body will be described below with reference to the drawings.

As shown in FIG. 1, at the upper end of one reference side M1 of a plurality of sides surrounding a rectangular work site (field) K, the lengths of adjacent sides M2 and M3 adjacent to the reference side M1 are long. A doorway Mi through which the work vehicle V enters and exits by traveling along the direction is provided, and both end sides of the work site K are respectively provided on the headland portions K1, K in the longitudinal direction of the adjacent sides M2, M3.
2 and the central portion is set as the work target portion Ks, a reciprocating work is performed in which the work vehicle V is reciprocated along the longitudinal direction of the adjacent sides M2 and M3 while working on the work target portion Ks. In both headland portions K1 and K2, headland work is performed in which the work vehicle V travels back and forth along the longitudinal direction of the reference side M1 and works on the headland portions K1 and K2. The work target portion Ks and both headland portions K1, K
2 is divided by two boundary lines Y, Y on the right side and the left side, which are provided at both ends of the work target portion Ks in the longitudinal direction of the adjacent sides M2, M3 along the reference side M1.

On the ground side, along the work stroke R1 to guide the work vehicle V along each of the work strokes R1 as a plurality of guide paths arranged in the longitudinal direction of the reference side M1 in the work target portion Ks. A first beam light projection device B1 for projecting the guidance beam light A1 and a pair of headland portions K1, K2
In each of the first headland portion K1 adjacent to the reference side M1 and the second headland portion K2 adjacent to the facing side M4 facing the reference side M1, a plurality of lined up in the longitudinal direction of the adjacent sides M2 and M3. In order to guide the work vehicle V along each work path R2 as a guide path, there is provided a second beam light projection device B2 for projecting the guiding beam light A2 along the work path R2.

The first beam light projection device B1 is basically installed at a boundary position between two adjacent work steps R1 of the plurality of work steps R1 at a ratio of one to two. However, the drawing shows the case where the number of work strokes R1 is an odd number, and one first beam light projection device B1 is arranged only for the work stroke R1 at the uppermost end. Further, the second beam light projection device B2 is installed at the boundary position of the work steps R2 because the plurality of work steps R2 are two. Further, in the drawing, in the longitudinal direction of the adjacent sides M2 and M3, a beam light A3 parallel to the beam light A2 is projected at a position inside the projection position of the beam light A2 from the second beam light projection device B2. A 3-beam light projection device B3 is provided. Further, the beam light projection devices B1, B2, B3
Are the respective light beams A1, A2, A as shown in FIG.
3 are vertically scanned at different angles (30 ms, 40 ms, and 50 ms, respectively, which will be described later) by a predetermined angle. Although not described in detail, each of the beam light projection devices B1, B2, B3 is composed of a laser device or the like.

As described above, a plurality of guide paths (work strokes R1, R2) of the work vehicle V are set in a state of being adjacent to each other, and the guide beam lights A1, A2 are projected along the longitudinal direction of the guide paths. Guidance beam light projection means B1, B
2 is composed of the first beam light projection device B1 and the second beam light projection device B2. Further, as will be described later, when the work vehicle V guides and travels along the guide beam lights A1 and A2 of the respective work strokes R1 and R2, the work vehicles V intersect in the longitudinal direction of the work strokes R1 and R2. Beam light A
2, at predetermined positions such as stroke ends, which are projection positions of A1 and A3, predetermined operations such as start and stop of planting work, traveling stop and start of turning are performed, and the guide route of the work vehicle V is performed. Trigger beam light A1, A for indicating a predetermined position in the longitudinal direction of (working steps R1, R2)
Beam light projecting means B1 and B for trigger for projecting 2 and A3 in a direction intersecting the longitudinal direction of each work process R1 and R2.
2 and B3 are configured by the first beam light projection device B1, the second beam light projection device B2, and the third beam light projection device B3.

Next, the structure of the working vehicle V will be described. As shown in FIGS. 2 and 3, the rear portion of the vehicle body 5 having a pair of left and right front wheels 3 and rear wheels 4 has a ground working state and a non-ground working state. A seedling planting device 6 that can be switched between a working state and a working state is provided so as to be able to move up and down and stop driving. In other words, when the vehicle is driven in the lowered state, it is the ground work state, and the other states are non-working states. Further, as shown in FIG. 4, the front and rear wheels 3 and 4 are configured such that the left and right wheels are paired so as to be individually steerable, and steering hydraulic cylinders 7 and 8 and an electromagnetically operated control valve 9 for them are provided. , 10 are provided.
That is, a two-wheel steering system that steers only one of the front wheels 3 or the rear wheels 4, a four-wheel steering system that steers the front and rear wheels 3, 4 in opposite phases and at the same angle, and the front and rear wheels 3, 4 in the same phase. In addition, it is possible to selectively use three types of steering types, that is, a parallel steering type that steers at the same angle.

In FIG. 4, 11 is a hydraulic continuously variable transmission that shifts the output from the engine E to drive the front and rear wheels 3 and 4 simultaneously, 12 is an electric motor for gear shifting operation, and 13 is a planting device. 6, a hydraulic cylinder for raising and lowering, 14 a control valve thereof, 15 an electromagnetically operated planting clutch for intermittently driving the planting device 6 by the engine E, 16 a work vehicle V
Is a control device using a microcomputer for controlling the traveling of the plant and the operation of the planting device 6, and based on detection information by various sensors described later and work data stored in advance, the shift motor 12 and each control valve 9 , 10, 1
4 and each of the planting clutch 15 are controlled.

The sensors mounted on the work vehicle V will be described. As shown in FIG. 4, steering angle detection sensors P1 and P2 using potentiometers for detecting steering angles of the front and rear wheels 3 and 4, respectively. A vehicle speed sensor P3 using a potentiometer that indirectly detects the forward / backward traveling state and the vehicle speed based on the speed change state of the transmission 11, and an encoder S3 for detecting the traveling distance by counting the number of rotations of the output shaft of the transmission 11.
And a direction sensor S4 using geomagnetism for detecting the body direction of the work vehicle V.

Further, as shown in FIGS. 2 and 3, the work vehicle V has the above-mentioned guiding and triggering beam lights A1 and A2.
A beam light receiving means S for receiving 2, 2 is provided. That is, the beam light receiving means S moves the work vehicle V to the first position.
In order to guide travel along the light beams A1 and A2 from the light beam projection device B1 or the second light beam projection device B2, the light beams A1 and A2 are received as guidance light beams, and at the same time, the work vehicle V Beam lights A1 and A2 from the first beam light projector B1 or the second beam light projector B2
When the vehicle is guided along, the beam light A1,
The beam lights A2, A1 and the third beam light from the second beam light projection device B2 or the first beam light projection device B1 intersecting A2.
The beam light A3 from the beam light projection device B3 is received as the trigger beam light.

Specifically, the beam light receiving means S is
As shown also in FIG. 5, an optical sensor S1 including a pair of sensors S1a and S1b configured to freely output the light reception information of a plurality of light receiving elements D arranged in a line is arranged in the juxtaposing direction of the light receiving elements D. In a state in which the light receiving surface along is inclined at an inclination angle of 45 ° with respect to the front-rear direction of the work vehicle V so that it can receive both the guiding beam light and the trigger beam light,
It is provided on the work vehicle V. The pair of sensors S1a,
The sensors S1b are arranged side by side with a distance d in the front-rear direction of the vehicle body and a distance in the vertical direction.
With respect to the position of the light receiving element D0 located in the center of the sensor in the row direction among the plurality of light receiving elements D arranged in a line in 1b, the light receiving position in the row direction of the guiding beam lights A1 and A2, that is, the light receiving element D The positions X1 and X2 are detected. In addition, the guiding light beams A1, A2
In order to be able to receive light with no difference regardless of whether the vehicle is incident from the front or rear direction of the vehicle body, the incident light from each of the front and rear directions of the vehicle body is reflected toward the light receiving surface of each of the sensors S1a and S1b. A reflecting mirror 18 is provided.

As shown in FIG. 3, the beam light receiving means S is provided on both the left and right sides of the front part of the vehicle body in plan view so that it can receive the guiding beam lights A1 and A2 on either side of the vehicle body. A left and right pair are provided at a predetermined distance in front of a line connecting both shaft cores. A rear side optical sensor S2 that receives only the trigger light beam is provided on the rear side of the center of the vehicle body in plan view, and is located on a line connecting both axial cores of the rear wheel 4. Sensor S2
Detects only whether or not the light beams A1, A2, A3 from the left and right sides of the vehicle body are received.

Using the control device 16, the received beam light A is received based on the light receiving information of each light receiving element D in the optical sensor S1 and the light receiving information of the rear side optical sensor S2.
1, A2, A3 scanning cycle (in order: 30ms, 40m
s, 50 ms) and discriminating which of the beam light projecting means B1, B2, B3 the beam light is. The identifying means 102, as shown in FIG.
Detection channels CH0 as a plurality of, i.e., four, identification processing units for each scanning period discrimination of ms, 40 ms, and 50 ms.
To 3 and only when all the identification results of the received light beams of the four detection channels CH0 to 3 match, the received light beams A based on the identification results.
It is configured to identify 1, A2 and A3. Therefore, since there are four detection channels CH0 to CH3 for discriminating the three scanning periods, a total of 12 detection channels are configured.

Specifically, as shown in FIG. 4, the outputs of the plurality of light receiving elements D of the pair of sensors S1a and S1b of the optical sensor S1 are output by the OR circuits 2a and 2b. When any one of the D's is received, it is converted into the received light information indicating that the received light data is present and then input to the control device 16. The received light information from each of the OR circuits 2a and 2b is processed by the identifying means 102. To be executed.
Further, with respect to the rear side light sensor S2, the processing by the identifying means 102 is executed on the received light information.

Next, based on the flow charts of FIGS. 7 to 8, the processing procedure of the identifying means 102 will be described by taking the case of determining the scanning period of 30 ms of the beam light A1 from the first beam light projection device B1 as an example. Will be described.

In the processing of the detection channel CH0 (FIG. 7), first, in the standby processing step, when all the other detection channels CH1 to CH3 are waiting, or not in the other detection channels CH1 to CH3. If there is something, but the detection channel CH3 immediately before is not in the synchronization end waiting state (not the synchronization end step), it is judged whether or not there is light reception data.
After setting (starting) the ms synchronization timer, the process proceeds to the next synchronization start step. On the other hand, some of the other detection channels CH1 to CH3 are not on standby, and 1
When the immediately preceding detection channel CH3 is in the waiting state for completion of synchronization, and when there is no received light data in the determination of the received light data, the process returns to the beginning of the standby processing step.

In the synchronization start step, after waiting for the synchronization timer to time up (29 ms elapse), when the synchronization timer times out, the contents of the buffer for the received light data are cleared and the 2 ms synchronization end timer is set. After (start), the process moves to the next synchronization end step.

In the synchronization end step, it is determined whether or not the synchronization end timer is up (2 ms has elapsed), and if there is light reception data before the time up, the light reception data is saved in the buffer. . Here, when there are a plurality of received lights, a plurality of received light data are saved. On the other hand, when the synchronization end timer times out, the process proceeds to the next light receiving position recording step.

In the light receiving position recording step, it is judged whether or not there is the light receiving data saved in the previous synchronization end step. If there is the light receiving data, the light receiving position (that is, the light receiving After recording the (time), a synchronization timer of 28 ms is set, and then the step of synchronizing starts. On the other hand, if there is no received light data in the previous synchronization end step, the non-received light is recorded and then the process proceeds to the first standby processing step.

The processing of the other detection channels CH1 to CH3 (FIG. 8) is different from the processing of the detection channel CH0 (FIG. 7) in that the other detection channels CH1 to CH3 are waiting in the first standby processing step. The rest of the flow is the same, only the part that determines whether it is present is omitted.

The result of the above processing is shown in the time chart of FIG. Here, each of the light receiving sensors S1 and S2 receives the light beam A1 twice during the scanning period of 30 ms, i.e., j1 when scanning from top to bottom and j2 when scanning from bottom to top. Obtain light reception data. First, all the detection channels CH0 to CH3 are started from an initial state in which they are on standby, and the channel C is determined by the light reception data at the first j1 time.
The synchronous timer (29 ms) of H0 is set, and the synchronous timer (29 ms) of the channel CH1 is set by the received light data at the first j2.

At the second j1 time, the next synchronization timer (28 ms) is set in the channel CH0 by the saved received light data, and at the same time, in the channel CH.
A 2 sync timer (29 ms) is set. Further, at the time of the second j2 that follows, due to the light reception data saved, the next synchronization timer (28 m
s) is set, and at the same time, the synchronization timer (29 ms) of channel CH3 is set.

At the time of j1 at the third time, the next synchronization timer (28 m
s) is set. Further, at the subsequent j2 at the third time, the next synchronization timer (28 ms) is set for the channel CH1 and the channel CH3. Then, at this point, all of the four detection channels CH0 to CH3 are 30 m
The timer operates in synchronization with the cycle of s, that is, 3
Since the scan cycle of 0 ms is determined, the received light beam is identified as the light beam A1 of the first beam light projection device B1 having a period of 30 ms.

Further, the control device 16 controls the traveling of the work vehicle V on the basis of detection information of various sensors such as the light receiving sensor S1 and the rear side light sensor S2 and preset work schedule information, and It is configured to control the operation of various devices such as the planting section 6. Then, the control device 16 is used to detect the position of the work vehicle V in the lateral direction with respect to the work strokes R1 and R2 based on the light reception information of the light beam receiving means S (that is, the light sensor S1). Based on the position detection information, the work vehicle V operates the work stroke R.
1 and R2, the steering control is performed so that the work vehicle V receives the trigger light beam at a predetermined position in the front-rear direction of the work vehicle V, and the work vehicle V causes the work strokes R1 and R2.
Control means 100 is provided for controlling to perform a predetermined operation at a predetermined position. That is, the control means 10
0 detects the position of the work vehicle V in the lateral direction with respect to the work strokes R1, R2 based on the light receiving position information of the plurality of light receiving elements D in the optical sensor S1 and the identification information of the identifying means 102, Further, it is configured to determine a predetermined position in the front-rear direction of the work vehicle V that has received the trigger light beam. The predetermined position for receiving the trigger light beam is set to the position of the light receiving element D0 located at the sensor center of the light receiving element D of the sensor S1a on the front side of the optical sensor S1.

The position detection of the vehicle body 5 in the lateral direction by the control means 100 will be described. As shown in FIG.
Based on the positions X1 and X2 of the light receiving elements of the pair of front and rear sensors S1a and S1b and the distance d between the sensors S1a and S1b in the front-rear direction of the vehicle body, the guiding beam light A
The inclination φ of the vehicle body 5 with respect to the projection direction of 1, A2 and the position deviation x in the lateral width direction are obtained.

[0041]

## EQU1 ## φ = tan ^-1 [| X1-X2 | / (| X1-X
2 | +2 ^1/2 * d)] x = X1 / 2 ^1/2

In this example, the lateral position deviation x is determined by one of the pair of front and rear photosensors S1a and S1b (S
1a) is obtained from the light receiving position, but in order to prevent an error due to the inclination φ of the vehicle body, the average value of the light receiving positions X1 and X2 of the front and rear photosensors S1a and S1b is used. May be. And the work vehicle V
Is such that both the inclination φ and the deviation x are zero,
The target steering angle is set and the steering is controlled. However, in the present embodiment, steering control is performed by a two-wheel steering system in which only the front wheels 3 are steered during straight traveling in each work stroke.

Further, in the control means 100, the optical sensor S1 receives the trigger light beam (that is, the light receiving element D0 at the center of the front side sensor S1a receives the light).
Accordingly, the work vehicle V is guided along one of the work strokes R1 and R2 so that the adjacent work strokes R1 and R2.
Is configured to move to a guided state along. Specifically, the traveling of each work stroke R1, R2 in the forward state is ended, and at the end of the stroke, the work vehicle V is moved along the one work stroke R1, R2 with the beam light A1, A2.
180 ° or 90 ° from the state guided by 2 to the state guided by the beam lights A1, A2 along the other work strokes R1, R2.

Next, the guide traveling of the work vehicle V will be specifically described with reference to FIG. First, the adjacent sides M2 and M3
The reciprocating work is performed while leaving the final work site portion R1a connected to the doorway Mi along the longitudinal direction of and the relay work site portion R1b adjacent to the adjacent side M3 located farther from the doorway Mi. Here, the final work site part R1a is a work site part corresponding to the uppermost work process of the plurality of work processes R1 arranged in the longitudinal direction of the reference side M1, and the relay work site part R1b is the above-mentioned plurality. Is a work site portion corresponding to two work strokes on the lower end side of the work stroke R1.

In the reciprocating work, specifically, the work stroke R1 farthest from the entrance Mi except for the relay work site portion R1b is taken on the right boundary line Y indicating the work start position of the starting end portion thereof. It starts from the Pst point in the left direction of the figure. Therefore, along the route shown in the figure, while stopping at the Nh point on the way and supplying the first seedlings (after this,
When the work vehicle V stops at the starting end on the reference side M1 side of each work stroke R1, R2, seedlings are replenished as appropriate according to the consumption state of the seedlings), and the vehicle travels forward to the Pst point in a non-working state.
In the non-working traveling up to the Pst point, the steering beam is controlled based on the received light information of the guidance beam lights A1 and A2, and the trigger beam light A projected from the side.
Adjacent work steps R1, based on the received light information of A1 and A2
The turning movement toward R2 is started.

When the trigger light A3 from the third beam light projection device B3 is received and it is detected that the Pst point is reached, the planting device 6 is driven to start the planting work,
Thereafter, the steering control is performed based on the light reception information of each guiding beam light A1, and the planting work is stopped and the left and right headland parts K1, based on the light reception information of the trigger beam light A2 projected from the side. While turning 180 degrees at K2, it moves to the next work stroke R1 and reciprocates through each work stroke R1 while starting work based on reception of the trigger light A3 projected from the side at the starting end of the next work stroke R1. To do. Then, in the final work stroke R1 (second stroke from the top of the drawing) of the work target portion Ks, while being guided by the guiding beam light A1 based on the detection information of the right optical sensor S1,
Travel to the end position Pen on the right boundary line Y.

After this, of the pair of headland parts K1 and K2, the first headland part K1 adjacent to the reference side M1 and the second headland part K adjacent to the opposite side M4 facing the reference side M1.
The above-mentioned headland work for working 2 is performed, and in the headland work, during the transition between the first headland part K1 and the second headland part K2, while the relay work site part R1b is running, Work on the relay work site part R1b, and finally, from the second headland part K2 toward the entrance Mi, the final work site part R1
It is set to work the final work site portion R1a while traveling a.

Specifically, first, in order to move from the end position Pen to the starting end portion of the inner working stroke R2 of the two working strokes R2 of the second headland portion K2, the right photosensor S1 receives light. While being guided by the guiding beam light A1 based on the information, the vehicle moves backward from the end position Pen to the position where the rightmost trigger beam light A2 in the figure is received by the right optical sensor S1 and then switches to the forward state. Turn 90 degrees to the right, and further switch the optical sensor S1 to the left side. Based on the light reception information of the optical sensor S1 on the left side, the guiding beam light A2
While being guided to, the vehicle travels in a reverse state from the position where the rear side sensor S2 receives the trigger beam light A1 projected from the side to a position of a predetermined distance to reach the planting start position. Then, the work process R2 is automatically traveled in the forward movement state while being guided by the guiding beam light A2 based on the light reception information of the left-side optical sensor S1.

After that, the work stroke R2 inside the second headland portion K2, the work stroke R1b inside the relay work ground portion R1b, the work stroke R2 inside the first headland portion K1, and the first headland portion K.
1, the work stroke R2 outside, the work stroke R1b outside the relay work land portion R1b, and the work stroke R2 outside the second headland portion K2 are projected in this order from the side at the end of each stroke. Based on the information received by the left and right optical sensors S1 or the rear side sensors S2 of the trigger light beams A1, A2, A3, the guide light beams A1, A2, A3 are guided to travel in the working state while turning to the start end portion of the next stroke, and finally, finally. The work site portion R1a travels straight in the working state and exits from the work site through the entrance Mi.

[Other Embodiment] In the above embodiment, the optical sensor S1 constituting the light beam receiving means S is provided on the moving body V in a state of being inclined at an inclination angle of 45 ° with respect to the front-back direction of the moving body V. However, it is not limited to 45 °.

Next, another embodiment of the beam light receiving means S will be described with reference to FIGS. 10 to 12. The beam light receiving means S receives light from a plurality of light receiving elements D arranged in a line. The moving body (work vehicle V) is configured so that information can be output separately and the light receiving surface along the juxtaposed direction of the light receiving element D can receive the guiding beam lights A1 and A2.
And a reflection mirror H as a reflector that reflects the trigger light beams A1, A2, A3 toward the light receiving surface of the optical sensor S1. Has been done. As a reflector,
Various optical elements such as prisms can be used in addition to the reflection mirror. Also in this case, the optical sensor S1 is composed of a pair of front and rear sensors S1a and S1b, and the beam light receiving means S is provided on both left and right sides of the vehicle body. Further, the predetermined position for receiving the trigger light beam is set to the position of a predetermined number of light receiving elements D on both sides of the light receiving element D0 located at the center in the front side sensor S1a.

The position detection of the vehicle body 5 in the lateral direction by the control means 100 in the case of the beam light receiving means S will be described. As shown in FIG. 12, the light receiving elements of the front and rear sensors S1a and S1b are respectively provided. Position X1, X2
And the distance d between the sensors S1a and S1b in the vehicle front-rear direction, the inclination φ of the vehicle body 5 with respect to the projection direction of the guiding beam lights A1 and A2 and the position deviation x in the lateral width direction are calculated from the following equations. .

[0053]

## EQU2 ## φ = tan ^-1 [| X1-X2 | / d] x = X1

In the above embodiment, the guiding light beam A is used.
1, A2 and the beam light projecting means B1, B2, B3 for projecting the beam lights A1, A2, A3 for trigger are constituted by the laser light generators, but beam light generators other than the laser light generators may be used.

In the above embodiment, the optical sensor S1 constituting the light beam receiving means S is constituted by a pair of sensors S1a and S1b having a plurality of light receiving elements D arranged in a line. The position deviation x in the lateral direction of the vehicle body and the inclination φ of the vehicle body are obtained from the light receiving positions X1 and X2, and the positional deviation x and the inclination φ are used as the position in the lateral direction with respect to the guide route of the moving body. It is not always necessary to provide a pair of sensors, and one sensor S1a (S1b) including the plurality of light receiving elements D may be used.
In this case, the position in the lateral direction with respect to the guiding light beam is only the deviation x and the inclination φ cannot be detected. Therefore, for example, the direction sensor S4 detects the vehicle body direction with respect to the reference direction. It can be inclined.

In the above embodiment, the light receiving element D0 located at the center of the light receiving element D of the sensor S1a on the front side of the optical sensor S1 is located at the predetermined position when the light beam receiving means S receives the trigger light beam. (See Figure 5),
Alternatively, the positions of the predetermined number of light receiving elements D on both sides of the light receiving element D0 located at the center are set (see FIG. 10), but the present invention is not limited to this.
It may be set at all positions of the plurality of light receiving elements D of 1a. That is, when any of the plurality of light receiving elements D receives light, it is determined that the trigger light beam has been received.

In the above embodiment, the identifying means is constituted by the software processing means 102 in the control device 16 using the microcomputer. However, the identification means is not limited to this and, for example, will not be described in detail. Also, the received light data may be input to an identification circuit formed of a hardware circuit separate from the control device 16 to perform identification processing, and an identification signal indicating that a predetermined scanning cycle has been identified may be input to the control device 16. Good.

In the above embodiment, the identifying means 102 is
A plurality (4) of identification processing units CH0 for identifying light beams
3, and a plurality of (4) identification processing units CH0 to 3
Although the received light beam is identified based on the identification results only when all the identification results match, the identification processing unit may be configured with one identification processing unit for simplification of the control configuration. In this case, when the identification result of the one identification processing unit is the same for a plurality of times, the received light beam is identified based on the result, so that the erroneous identification is prevented. It can be avoided as much as possible.

In the above-mentioned embodiment, the moving route (work vehicle V) is constructed in the work paths R1 and R2 in which the moving body (work vehicle V) travels while performing work such as rice planting work. It may be a route that guides the body. Further, in the above embodiment, in order to move along each of the work steps R1 and R2 parallel to each side of the rectangular work site, a plurality of work steps R1 adjacent to each other in a juxtaposed state and another juxtaposed state. , A plurality of guide paths (work steps R1, R2) are set so as to be adjacent to each other so as to intersect a plurality of work steps R2 adjacent to each other at a predetermined position in an orthogonal state. In the case of the work place, the guide paths may intersect at a predetermined angle other than the orthogonal state.

In the above embodiment, the present invention is applied to the work vehicle for rice planting as the moving body V.
It can be applied to agricultural work vehicles other than rice planting and various work vehicles other than agricultural work, and the specific configuration of each part at that time is appropriately changed according to the purpose and working conditions of the work vehicle. .

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a plan view showing an entire guide path and a projection position of each light beam.

FIG. 2 is a schematic side view of a work vehicle and each beam light projection means.

FIG. 3 is a schematic plan view showing a work vehicle and a beam light receiving means.

FIG. 4 is a block diagram of a control configuration.

FIG. 5 is an explanatory view of position detection in the lateral direction with respect to the guiding light beam.

FIG. 6 is a block diagram of beam light identification processing.

FIG. 7 is a flowchart showing beam light identification processing.

FIG. 8 is a flowchart showing beam light identification processing.

FIG. 9 is a time chart showing beam light identification processing.

FIG. 10 is a schematic side view of a work vehicle and each beam light projection means of another embodiment.

FIG. 11 is a schematic plan view showing a work vehicle and beam light receiving means of another embodiment.

FIG. 12 is an explanatory diagram of lateral position detection with respect to the guiding light beam according to another embodiment.

FIG. 13 is a schematic plan view showing a conventional controller for controlling a beam light of a moving body.

[Explanation of symbols]

 V moving body B1, B2 guiding beam light projecting means B1, B2, B3 trigger beam light projecting means S beam light receiving means 100 control means D light receiving element S1 optical sensor 102 discriminating means H reflector

Claims (3)

[Claims] 1. A guide beam light projection means (B1, B2) for projecting a guide beam light along the longitudinal direction of the guide path of a moving body (V) on the ground side, and in the longitudinal direction of the guide path. Trigger beam light projection means (B1, B2, B3) for projecting a trigger beam light for indicating a predetermined position in a direction intersecting the longitudinal direction of the guide path is provided, and the moving body (V), Based on the beam light receiving means (S) for receiving the guiding and triggering beam light, and the light receiving information of the beam light receiving means (S), a lateral direction of the moving body (V) with respect to the guiding path is obtained. The position is detected, the steering is controlled based on the position detection information so that the moving body (V) moves along the guide route, and the moving body (V) is moved at a predetermined position in the front-rear direction of the moving body (V). Receives beam light for trigger And a control means (100) for controlling the moving body (V) so as to perform a predetermined operation at a predetermined position of the guide path in accordance with the above. Both beam light projecting means (B1, B2, B3) are configured to scan the respective light beams in the vertical direction at mutually different scanning cycles, and the beam light receiving means (S) are arranged in a line in a plurality. In the optical sensor (S1) configured to freely output the light reception information of each light receiving element (D), the light receiving surface along the juxtaposed direction of the light receiving elements (D) has the guiding beam light and the trigger beam. The movable body (V) is provided in the movable body (V) in a state of being inclined with respect to the front-rear direction of the movable body (V) so that both of the light can be received, and the movable body (V) is provided with the optical sensor (S1). Light reception information of each light receiving element (D) On the basis of the above, a discriminating means (102) for discriminating the scanning cycle of the received light beam and discriminating which light beam of the both beam light projecting means (B1, B2, B3) is provided. The control means (100) laterally moves the moving body (V) with respect to the guide path based on the light receiving position information of the plurality of light receiving elements (D) and the identification information of the identifying means (102). The beam light guide control device for the moving body, which is configured to detect the position in (1) and to determine a predetermined position in the front-rear direction of the moving body (V) that has received the trigger light beam. 2. Guidance beam light projection means (B1, B2) for projecting a guidance beam light along the longitudinal direction of the guidance route of the moving body (V) on the ground side, and in the longitudinal direction of the guidance route. Trigger beam light projection means (B1, B2, B3) for projecting a trigger beam light for indicating a predetermined position in a direction intersecting the longitudinal direction of the guide path is provided, and the moving body (V), Based on the beam light receiving means (S) for receiving the guiding and triggering beam light, and the light receiving information of the beam light receiving means (S), a lateral direction of the moving body (V) with respect to the guiding path is obtained. The position is detected, the steering is controlled based on the position detection information so that the moving body (V) moves along the guide route, and the moving body (V) is moved at a predetermined position in the front-rear direction of the moving body (V). Receives beam light for trigger And a control means (100) for controlling the moving body (V) so as to perform a predetermined operation at a predetermined position of the guide path in accordance with the above. Both beam light projecting means (B1, B2, B3) are configured to scan the respective light beams in the vertical direction at mutually different scanning cycles, and the beam light receiving means (S) are arranged in a line in a plurality. The movable body (V) is configured such that the light receiving information of each light receiving element (D) can be output separately and the light receiving surface along the juxtaposed direction of the light receiving element (D) can receive the guiding light beam. ), The optical sensor (S
1) and the trigger light beam to the optical sensor (S
1) is provided with a reflector (H) that reflects toward the light receiving surface, and based on the light reception information of each light receiving element (D) in the optical sensor (S1), the moving body (V) is An identifying unit (102) is provided for identifying the scanning period of the received light beam and identifying which of the two beam light projecting units (B1, B2, B3) the light beam is. The means (100) determines the position of the moving body (V) in the lateral direction with respect to the guide path based on the light receiving position information of the plurality of light receiving elements (D) and the identification information of the identifying means (102). A moving body beam light guide control device configured to detect a predetermined position in the front-rear direction of the moving body (V) that has detected and received the triggering beam light. 3. A plurality of the guide paths are set in a state of being adjacent to each other, and the control means (100) moves the moving body () as the optical sensor (S1) receives the trigger beam light. The control for beam light guide of a moving body according to claim 1 or 2, which is configured to move V) from a state guided along one guide path to a state guided along an adjacent guide path. apparatus.